CN1939640A - Laser welding apparatus and method with correction of a laser beam direction with respect to the programmed predetermined position - Google Patents

Laser welding apparatus and method with correction of a laser beam direction with respect to the programmed predetermined position Download PDF

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Publication number
CN1939640A
CN1939640A CNA2006101410526A CN200610141052A CN1939640A CN 1939640 A CN1939640 A CN 1939640A CN A2006101410526 A CNA2006101410526 A CN A2006101410526A CN 200610141052 A CN200610141052 A CN 200610141052A CN 1939640 A CN1939640 A CN 1939640A
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China
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mentioned
laser
parts
robot
irradiation
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CNA2006101410526A
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CN100506460C (en
Inventor
小松岳嗣
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/22—Spot welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/042—Automatically aligning the laser beam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding

Abstract

Disclosed is a laser welding apparatus and method and an irradiation device. The welding apparatus is capable of correctly irradiating laser beams at the predetermined laser beam irradiation position even when the actual position and the posture of the robot is delayed to the operational command. A robot control device 52 acquires the operational quantity measurement values Rc1(t)-Rc6(t) from an encoder of each axis of a robot, calculates the present position of a laser machining head 3 from the measurement values, and instructs the laser beam irradiation direction Sr(t) to a machining head control device 53 so as to irradiate laser beams to the predetermined laser beam irradiation position based on the calculated present position of the laser machining head 3. The machining head control device 53 changes the direction of a reflecting mirror in the laser machining head 3 so as to irradiate the laser beams in the instructed direction.

Description

Laser soldering device, method for laser welding and irradiation unit
Technical field
The present invention relates to laser soldering device, method for laser welding and irradiation unit.
Background technology
In recent years, laser weld also is applied in the welding that has utilized robot gradually.In the past, as this laser welding technology, by laser Machining head that penetrates laser and the posture that changes robot are installed on the robot arm front end, make laser arrive the position of pad thereby laser Machining head is moved to, penetrate laser from the position of leaving workpiece then and come with laser weld target pad (for example with reference to TOHKEMY 2005-177862 communique).Adopt this technology, owing to can therefore can laser Machining head be moved and weld a plurality of pads one by one from the position of leaving the workpiece certain distance towards the pad irradiating laser by the posture that changes robot.
Summary of the invention
But robot exists the actual current location that is moving with respect to the different situation of operating position of being instructed.In this case, because robot or be installed on the inertia that quality produced of laser Machining head of its front end and the activity complexity of robot self etc. can cause that its operating position that is instructed relatively is slow a little or can not follow the location of instruction exactly.
Therefore, in laser weld in the past, there is position deviation, the inconsistent such problem in the position of laser irradiating position and design owing to this robot.
Therefore, an object of the present invention is to provide a kind of laser that falls and be radiated at laser soldering device on the predetermined laser irradiating position exactly.
In addition, another object of the present invention provides a kind of method for laser welding that laser can be shone exactly predetermined laser irradiating position.
In order to address the above problem, laser soldering device of the present invention is characterised in that to have: robot; Laser penetrates parts, and it is installed in the above-mentioned robot, is used to penetrate laser; Components of assays, it measures the current location of above-mentioned robot; Control assembly, the above-mentioned current location of the above-mentioned robot that it is measured according to the said determination parts, control is penetrated the direction of the above-mentioned laser that parts penetrate from above-mentioned laser, makes that the irradiation position of above-mentioned laser is consistent with predetermined irradiation position.
In addition, in order to address the above problem, method for laser welding of the present invention is to make robot motion and make the laser that is installed in this robot penetrate parts to move, and laser is penetrated on the assigned position that parts shine workpiece and the method for laser welding that welds from this laser; It is characterized in that having: the step of obtaining the current location of above-mentioned robot; Penetrate the direction of the laser that parts penetrate according to the control of above-mentioned current location from above-mentioned laser, make the irradiation position step consistent of above-mentioned laser with predetermined irradiation position.
In addition, irradiation unit of the present invention is characterised in that to have: irradiation part, and it shines the irradiation thing; Moving-member, it moves above-mentioned irradiation part; Components of assays, it measures the current location of above-mentioned moving-member; Control assembly, it is according to the above-mentioned current location that is obtained by the said determination parts, control is penetrated the direction of illumination of the above-mentioned irradiation thing that parts penetrate from above-mentioned laser, makes that the irradiation position of the above-mentioned irradiation thing that is shone by above-mentioned irradiation part is consistent with predetermined irradiation position.
Adopt the present invention, the current location of the robot that is moving according to reality, change is penetrated the direction of the laser that parts penetrate from laser, and the laser irradiating position that laser is shone be determined in advance therefore can be exactly to predetermined laser irradiating position (for example pad) irradiating laser.
In addition, the present invention is not limited to laser, in the irradiation unit that various irradiation thing is shone, can be according to the current location of its irradiation part, and the irradiation position that shines thing by control comes correctly to predetermined irradiation position irradiation.
Description of drawings
Fig. 1 is used to illustrate the approximate three-dimensional map of having used laser soldering device of the present invention.
Fig. 2 is the general perspective that is used to illustrate laser Machining head.
Fig. 3 is the integrally-built block diagram that is used to illustrate the control system of laser soldering device.
Fig. 4 is the block diagram of control that is used to illustrate the welding action of the 1st embodiment.
Fig. 5 is the flow chart of the control step of expression laser irradiating position.
Fig. 6 is used to illustrate that the position produces the key diagram of the correction when departing from respect to the action of robot.
Fig. 7 is the key diagram of action that is used for illustrating the laser Machining head 3 of laser weld.
Fig. 8 is the flow chart of the The whole control step in the expression laser weld.
Fig. 9 is used to illustrate the originally block diagram of the control of the welding action of the 2nd embodiment.
Figure 10 is used to illustrate the originally block diagram of the control of the welding action of the 3rd embodiment.
Figure 11 is the curve map of the relation of output of expression laser and focal length.
Figure 12 is the block diagram of control that is used for illustrating the welding action of the 4th embodiment.
The specific embodiment
Below, be used to implement preferred forms of the present invention with reference to description of drawings.
The 1st embodiment
Fig. 1 is used to illustrate the approximate three-dimensional map of having used laser soldering device of the present invention, and Fig. 2 is the general perspective that is used to illustrate laser Machining head, and Fig. 3 is the integrally-built block diagram that is used to illustrate the control system of laser soldering device.
Compare with in the past spot welding etc., the welding of having used illustrated laser soldering device is direct contact workpiece of weld jig, and uses laser to weld from the place of leaving workpiece.Therefore, this welding is called remote welding.
Laser Machining head 3 (laser ejaculation parts), the LASER Light Source that arm 2 front ends that illustrated laser soldering device has robot 1, be located at this robot 1 are used to penetrate laser 100 be laser oscillator 5, laser is directed to the optical fiber cable 6 of laser Machining head 3 from laser oscillator 5.In order to guide laser by optical fiber cable, laser oscillator 5 uses the YAG laser oscillators.
Robot 1 is common multi-axis robot (being also referred to as articulated robot etc.), has 6 axles (Reference numeral 21～26) at this.
This robot 1 makes each only move the actuating quantity that is instructed according to the data of the path of motion that is given by the teaching operation, is that laser head 3 moves to various direction thereby can change its position, posture and make the front end of arm 2.
Each is separately installed with motor and encoder (not shown in Fig. 1) on 21～26 in robot.
Motor for example is a servomotor, and motor only rotates the actuating quantity by robot controller (being described in detail later) instruction.On the other hand, encoder is a components of assays, for example uses pulse coder.Pulse coder is only exported the corresponding pulse of rotation amount with axle.The pulse signal of output is imported into robot controller.Certainly, also can use these servomotors or pulse coder parts in addition.
For example, preferably install when robot arm 2 is installed laser Machining head 3, putting into the vibration suppression parts that absorb vibration in order to suppress transfer of vibration from robot arm.As the vibration suppression parts, for example can use vibration damper steel plate, buffer, yielding rubber etc., particularly, preferably use Natural Frequency of Vibration to absorb the good parts of vibrating effect to putting on laser Machining head 3.Certainly, also can not use this vibration suppression member, and directly use coupling mechanism that laser Machining head 3 is installed in the robot arm front end.
As shown in Figure 2, this processing head 3 has: speculum 11 (direction of illumination change parts), and the laser 100 by optical fiber cable 6 guiding penetrates to the object direction the most at last; Motor 16,17 (driver part) rotates speculum 11; Set of lenses 12 is used to adjust the focal length of laser.
Speculum 11 to be passing minute surface and the line vertical with minute surface is the Z axle, and is that the center can freely be rotated independently with X-axis and Y-axis with this Z axle quadrature respectively, by rotating the ejaculation direction that can freely distribute laser 100.For this reason, motor 16,17 is set.In addition, also gear mechanism (not shown) can be set on motor as required.
For according to the direction of illumination that changes laser from the signal of processing head control device (aftermentioned), this motor 16,17 rotates speculum 11 according to the instruction from robot controller.This motor 16,17 for example can use servomotor, stepping motor etc., preferably uses the motor that is rotated action according to the anglec of rotation that is instructed to.
Have in set of lenses 12: collimation lens 121 makes the laser that penetrates from optical fiber cable 6 ends become directional light; Collector lens 122 makes laser focusing for the focal length that makes the laser that becomes directional light is variable in position arbitrarily, and can move.
Collector lens 122 is according to the instruction from robot controller, according to the Signal Regulation focal length from the processing head control device.In addition, though focal length can make laser focusing in position arbitrarily, the scope of variable focal length is the movable range restriction of the collector lens that used, this collector lens, but the distance range of optically focused is limitary.
Laser oscillator 5 is YAG laser oscillators.At this, in order to use the YAG laser oscillator by optical fiber cable 6 guiding laser.In addition, also can use other laser to carry out laser weld, as long as can guide with optical fiber cable.
Below, the control system of laser soldering device is described.
As shown in Figure 3, the control system of laser soldering device is by forming with lower device: laser controller 51, the switching of the laser output of its working control laser oscillator 5 and output valve etc.; Robot controller 52, its action with robot 1 carry out integral body control; Processing head control device 53, the speculum 11 of its control laser Machining head 3 and the action of lens 122.
51 pairs of laser controllers are adjusted from the switching of the laser output of laser oscillator and the output intensity of laser.The instruction that this laser controller 51 produces according to the control signal from robot controller 52, output opens and closes and output is adjusted to laser.
Robot controller 52 is based on the data (being called training data) of teaching in advance, the switching of robot motion, laser, the adjustment and the laser Machining head of output are carried out various controls, thereby the action of control robot 1 is controlled the ejaculation direction of laser output and laser simultaneously.
As mentioned above, robot 1 has motor and encoder (in Fig. 4 as rM﹠amp at each; E1～rM﹠amp; E6 illustrates).Robot controller 52 is by this actuating quantity of drive motor to motor instruction actuating quantity and only, on the other hand, and by the rotation amount of the axle that obtained from encoder because of the motor action actual rotation.
Processing head control device 53 makes 16,17 actions of speculum 11 and motor and changes the ejaculation direction of laser arbitrarily.Action by the speculum 11 of this processing head control device 53 controls also is by controlling from the control signal of robot controller 52.
Being used in laser Machining head 3 makes and has encoder on the rotating shaft of motor 16,17 of speculum 11 rotation (at Fig. 4 as sM﹠amp; E1 and sM﹠amp; E2 illustrates).In addition, also have on each to be used for driving and focus the motor of lens 122 of usefulness and the encoder of measuring this motor amount of movement (at Fig. 4 as sM﹠amp; E3 illustrates).
Processing head control device 53 is according to from the control signal of robot controller 52 and to motor instruction actuating quantity, thereby with this actuating quantity drive motor; On the other hand, obtain the rotation amount of the motor reel of actual rotation by motor action from encoder.From the signal of these encoders in processing head control device 53 processed after, confirm that speculum 11 and lens 122 are whether actual to move according to command value.
Like this, laser output is directly by laser controller 51 controls, processing head 3 is directly by processing head control device 53 control, but all is to control by the control signal 52 from robot controller 52 to the moving of robot 1, the on-off action of laser, output is regulated and laser penetrates direction control in fact.Thereby this robot controller 52 becomes the control assembly in the laser soldering device of the present invention.
Below, the effect of this laser soldering device is described.
Fig. 4 is the block diagram that is used to illustrate the control of welding action, and Fig. 5 is the flow chart of the control step of the laser irradiating position in the expression welding action.In addition, at this, will be called irradiation position control based on this action of controlling step.
At first, in order to make robot 1 action according to training data processing head is moved to assigned position, robot controller 52 instructs actuating quantity Rr1 (t)～Rr6 (t) according to training data to each.Meanwhile, determine that to being used for the weld locations Wr (t) of speculum 11 directions in the laser Machining head 3 adjusts (S11), make laser be shone to the pad direction according to training data.
By this processing, robot 1 makes each motor rotation according to action command amount Rr1 (t)～Rr6 (t), and the actual rotation amount of each is used as Rc1 (t)～Rc6 (t) and from encoder feedback simultaneously.
Robot controller 52 is obtained the current location (S12) of laser Machining head 3 according to the output valve (measured value of each rotation amount) of the encoder that obtains from encoder.
And, for from the current location of the laser Machining head 3 obtained to predetermined laser irradiating position (being pad) direction irradiating laser, robot controller 52 is obtained the command value (S13) that speculum 11 is moved.Then, the laser irradiation command value Sr (t) that obtained of robot controller 52 output (S14).
The processing head control device 53 of having accepted laser irradiation command value Sr (t) is for according to command value Sr (t) irradiating laser, according to the coordinate figure in the laser Machining head coordinate system calculate to rotate motor rotation amount Sr1 (t), the Sr2 (t) of speculum 11 and the move value SL (t) of the lens that are used to focus after, make motor 16,17 actions, make lens 121 actions according to revised focal length SL (t) simultaneously.
In such welding action, obtain be used to make speculum 11 and lens 122 with respect to the position deviation of robot 1 and mobile laser irradiation command value Sr (t), promptly with respect to the command value of having revised by the position of training data indication, followingly for this reason calculate by coordinate transform like that.
At this, the robot coordinate system that will be the center with the reference position of robot 1 is as ∑ R, will with the coordinate system of the corresponding laser Machining head 3 of the command value of issuing robot 1 as ∑ S (t), this ∑ S (t), the position in robot coordinate system's ∑ R because of make robot 1 action in time t change.The coordinate system of laser Machining head 3 that will be corresponding with the current location of laser Machining head 3 as ∑ S ' (t), with the current location (actual is the position of the center of speculum 11) of laser Machining head 3 as Rcp (t), with the current posture of laser Machining head 3 as Rc θ (t), will be by the definite spin matrix conduct of current angle (actual is the current angle of speculum 11) of laser Machining head 3 sT R(Rc θ (t)).In addition, in robot coordinate system's ∑ R, weld locations Wr (t) is t and the coordinate figure of the weld locations that changes in time.
The current location Rcp of laser Machining head 3 (t) is from each the current position coordinates value of actuating quantity laser Machining head 3 that obtain, in robot coordinate system's ∑ R of the robot that obtained by encoder.
Then, the laser irradiation command value Sr (t) that is used to make speculum 11 and lens 122 to move (t) is obtained the coordinate system ∑ S ' that weld locations Wr (t) is transformed to laser Machining head 3 by the posture Rc (t) with the laser Machining head 3 of reality by following matrix (1).In addition, shown in following matrix (2), the posture Rc (t) of laser Machining head 3 is the matrixes by current posture Rc θ (t) formation of the current location Rcp (t) of laser Machining head 3 and laser Machining head 3.
Formula 1
Sr ( t ) 1 = T R S ( Rcθ ( t ) ) Rcp ( t ) 0 1 Wr ( t ) 1 - - - ( 1 )
Rc ( t ) = Rcp ( t ) Rcθ ( t ) - - - ( 2 )
By the whole coordinate system of such correction, when even the operating position that instructs with respect to the quilt of robot 1 in the current location of reality has departed from, obtain the laser of the current location transposition at once of laser Machining head with current location, thereby laser is irradiated to preposition from speculum 11 ejaculations from robot.
In addition, this correction that is obtained by coordinate system transformation is to calculate the example that laser penetrates direction according to the current location of robot 1, can certainly adopt other computational methods.
Fig. 6 is the key diagram that is used to illustrate the situation that the current location of the reality of robot 1 departs from from design attitude.
The position deviation of this robot for example is can't follow the action indication that gives robot 1 and produce owing to the action of actual robot 1.
The action of Fig. 6 (a) expression robot fully and the situation of carrying out according to design ideally.If this desirable robot location because the position of laser Machining head 3 arrives the position according to design, therefore can directly determine the ejaculation direction of laser 100 from design attitude.
But in fact, shown in figure (6), the position that has departed from a little because of the inertia of robot, mobile complexity etc. become the position of laser Machining head 3.Suppose in this position to determine that laser penetrates direction and when penetrating laser, the irradiation position of laser is not original predetermined P0, but deviates to P2 by the operating position that obtains from the robot training data.
Therefore, in this 1st embodiment, obtain the current location of laser Machining head 3 from each the value of encoder of robot after, speculum 11 is moved so that in real time from the current location of the laser Machining head 3 of reality to P0 direction irradiating laser.Therefore, shown in Fig. 6 (c), the ejaculation direction of laser is consistent with direction on correctly shining laser irradiating position P0.
In this 1st embodiment, with this position deviation correspondingly, be transformed to the current location (position of this moment comprises angle) that obtains from each encoder of robot by the coordinate system itself that makes laser Machining head 3 as described above, thus consistent with desired laser irradiating position.
In addition, adopt the coordinate transform that obtains by above-mentioned matrix, be not limited to the variation of simple position, also comprise the variation of focal length, all can aim at laser irradiating position exactly.In addition, when not using the coordinate transform that obtains by above-mentioned matrix, according to the coordinate system ∑ S (t) of the corresponding laser Machining head 3 of the command value in robot coordinate system's ∑ R with issuing robot 1 and with (t) poor of the coordinate system ∑ S ' of the corresponding laser Machining head 3 of the current location of laser Machining head 3, learn: the distance from the current location to the weld locations is with respect to the variation of the original focal position in the training data, therefore by adding this variable quantity focal length SL (t) is indicated to laser Machining head 3, thereby lens 122 also can be focused according to this indication.
Below, the whole welding process that has used this laser soldering device is described.
Fig. 7 is the key diagram of action that is used for illustrating the laser Machining head 3 of laser weld.In addition, at this,, be that example describes with very simple basic model for the ease of understanding.
In this 1st embodiment, as shown in Figure 7, a plurality of pads 201～206 o'clock are being arranged, to penetrating in the process of laser 100, laser Machining head 3 is being moved with fixing speed towards next pad (for example 202) as a pad of target (for example 201).Then, even laser Machining head 3 is moved, before also the welding of the pad in current welding (for example 201) finishes, make speculum 11 rotations, make laser 100 can not depart from from its pad (for example 201) by control signal (instruction) from processing head control device 53.At this moment, revise the direction of speculum 11 as mentioned above like that, make laser penetrate direction, thereby laser 100 is shone to pad exactly in real time corresponding to the current location of laser Machining head 3 and consistent with predetermined irradiation position.
Thereby in illustrated situation, laser Machining head 3 moves to position j with constant speed (perhaps also can be variable speed) from its position a, and speculum 11 rotates and makes laser penetrate direction also towards each pad simultaneously.
At this moment, even move and the position of mobile laser Machining head 3 by changing robot posture robot arm 2.The action of robot 1 is subjected to robot controller 52 controls, and move towards next pad with the pad of constant speed from welding the position of laser Machining head 3.Thereby in illustrated situation, laser Machining head 3 moves to the j position with constant speed from its a position.
On the other hand, speculum 11 exposure Position Control are controlled to and make that this pad is soldered in the process of a pad of welding.Thereby, even laser Machining head 3 still can form weld seam exactly in moving.
In addition, the translational speed of this laser Machining head 3 is necessary greater than speed of welding.This is because in the moment that the welding of a pad (for example 201) finishes, and make laser arrive next pad (for example 202).
Usually, the speed of welding of laser weld is 1～5m/min.To this, the translational speed of laser Machining head 3 (promptly, make the speed of robot arm action) is various because of the difference of robot, and for example maximum is about 10～20m/min.In addition, the translational speed of the focal position that is caused by speculum 11 may maximum be about 100m/min departing from speculum 11 for the part about 1m.Thereby the translational speed that probably makes laser Machining head 3 is greater than speed of welding.
In addition, when this speed according to each is selected actual translational speed, preferably suppress the vibration of laser Machining head 3.Thereby, preferably select each speed, make that the translational speed of laser Machining head 3 is the low speed of trying one's best.
Then, after the welding of a pad (for example 201) finished, focal position of laser also carried out because of the rotation of speculum 11 to moving of next pad (for example 202).The rotation of the speculum 11 of this moment is preferably carried out as quickly as possible.At this moment, laser output also can be kept intact with not stopping and be continued output, this be because: as mentioned above, the translational speed of focal position of laser is mutually far short of what is expected with speed of welding, in the process that moves between pad, even laser is irradiated onto the part of not welding, because or this part focal position of departing from laser, even perhaps this part is in the focal position, but, can not injure the part that laser 100 shines because of only not having influence substantially shining laser in a flash.In addition, also can to the signal that laser controller 51 is sent the signal of closing or output is reduced, laser output temporarily be stopped or making to export to descend as required.
Control the direction of the mobile and speculum 11 of the processing head 3 that causes by robot 1 like this, thereby on the direction of welding successively, be located at the position of the laser Machining head 3 of robot arm front end, when the welding of pad (for example 202) begins, be in the place ahead (for example position b) of this pad (for example 202); When finishing, the welding of its pad (for example 202) is in the rear (for example position d) of its pad (for example 202).
Fig. 8 is the flow chart of the control step in the welding of expression long distance laser.
At first, robot controller 52 makes laser Machining head 3 move to initial welding starting position and begins constant speed according to the training data of teaching in advance and moves, and laser controller 51 is sent instruction (S1) to open laser output, carry out above-mentioned irradiation position control (S10) simultaneously.Then, will be used to make laser irradiation command value that speculum 11 and lens 122 move to 53 outputs of processing head control device and make speculum 11 and lens 122 move the actuating quantity that is instructed.Thus, speculum 11 and lens 12 move to the position (S2) of being instructed.
Then, robot controller 52 judges whether to have arrived the welding starting position (S3) of next pad according to training data.At this, the position that the welding of the pad before according to the welding starting position of the next pad of training data also being is through with.
In this step, if arrive the welding starting position of next pad, just instruct processing head control device 53 (S4), make speculum 11 to next pad high speed rotating.Thus, processing head control device 53 makes speculum 11 courts become the pad direction high speed rotating of next target, and laser is penetrated towards next pad direction.The action of S2～S4 after proceeding is till the welding of final pad finishes.During this, the control of irradiation position still continues.
On the other hand, in step S3, if the welding starting position of the next pad of robot controller 52 no shows judges then whether the welding of whole pad finishes (S5).Whether this judgement is to have finished to judge by the welding of judging final pad according to training data.At this,,, handle and return step S3 at this point because the weld job itself in the current welding does not finish if the welding of final pad does not finish.Thus, the welding in the current welding is proceeded at this point.
On the other hand, in step S5, if the welding of final pad finishes, then according to training data, instruction laser controller 51 is closed laser output, laser Machining head 3 is turned back to position of readiness (perhaps end of job position etc.) (S6), finish whole operations.
If use the example of Fig. 7 that this action is described, then at first, after robot controller 52 moves to the welding starting position a of pad 201 with laser Machining head 3,, laser Machining head 3 begins laser output while being moved with fixing speed; Revise speculum 11 on one side simultaneously and make laser be irradiated to pad 201, make laser towards pad Yi Bian speculum 11 is rotated.
Then, through position b, at moment of the welding starting position c that has arrived pad 202 (pad 201 be welded on this finish constantly), robot controller 52 penetrates direction to be rotated speculum 11 by the maximal rate of teaching with laser and turns to pad 202 directions.Continue to carry out the welding of pad 202 then.Carry out repeatedly these operations up to after the welding of pad 206 finish till, the moment in that the welding of pad 206 finishes, stop laser and export, finish all weld jobs.
As mentioned above, adopt this 1st embodiment,, calculate the current location of laser Machining head 3 in real time, change the direction of speculum 11 into direction that the target pad is a laser irradiating position according to the current location of the robot 1 that obtains from each encoder of robot.Therefore, though in the position of the robot 1 of reality because of the inertia of robot 1 etc. produces when departing from respect to the action command position, also can come exactly to the pad irradiating laser by the action of the speed speculum 11 more much bigger than the responsiveness of robot 1.Therefore, on the welding position of laser weld, laser irradiating position can not produce position deviation, has improved welding quality.
In addition, in this 1st embodiment,, therefore revise the position deviation of laser Machining head 3 by the angle that changes speculum 11 owing to revised the deviation of focal length, even revised laser optical path length changes according to the value of training data, still can focus exactly and weld.
The 2nd embodiment
Fig. 9 is used to illustrate the originally block diagram of the control of the welding action of the 2nd embodiment.In addition, because the overall structure of laser soldering device and control system and the 1st embodiment (with reference to Fig. 1～Fig. 3) identical, so omit its detailed description.
This 2nd embodiment has the modeling of quantizing device 55 (prediction parts) in robot controller 52, the position of laser Machining head 3 is obtained in the action of the robot 1 that this simulator 55 self is being controlled by the digital model simulation.
This modeling device 55 of quantizing uses the operating position of the indication robot 1 in the training data of the robot 1 that is given, and obtains physical location (comprising posture) every the robot 1 that time t changes according to its action imaginaryly.At this moment, in fact the feature of the inertia by adding robot 1, action complexity etc. can obtain near imaginary current location when making robot 1 action.
Quantize modeling device 55 also according to the robot imaginary positions of having obtained, obtain imaginary laser irradiation command value, this laser irradiation command value is used for from laser Machining head 3 to target pad irradiating laser.
Thus, the speculum 11 in the imaginary laser Machining head coordinate system on the robot imaginary positions and the imaginary amount of movement of lens 122 become the amount of movement of being obtained by simulation.
Then, the robot controller 52 also current location of the robot 1 by the reality that obtains from encoder is revised this imaginary laser irradiation command value, is used for the actual speculum 11 of action and the laser irradiation command value that lens 11 move of making thereby obtain.
With the 1st embodiment in the same manner, obtain laser irradiation command value S by matrix " r (t), this laser irradiation command value S " r (t) be used for utilizing the simulation of this 2nd embodiment corrective action, be actual make speculum 11 and lens 122 actions.
At first, obtain laser Machining head coordinate system ∑ in the robot imaginary positions, imaginary by (3) formula ' the interior imaginary laser irradiation command value S ' r (t) of S (t).Wherein, in (3) formula, as Δ R ' (t) with the difference of the location of instruction and the analogue value; As the formula (4), the position of the laser Machining head 3 that will be produced by the robot instruction and the difference of the position of the laser Machining head 3 that is produced by simulation be as Δ R ' p (t), and the posture (angle) of the laser Machining head 3 that will be produced by instruction and the difference of the angle that is produced laser Machining head 3 by simulation are as Δ R ' θ (t).In addition, in formula (3), Sr (t) is and the corresponding laser irradiation in robot instruction position command value. S' T S(Δ R ' θ (t)) is the spin matrix that the difference of the angle that obtains by the instruction angle of laser Machining head 3 with by simulation is determined.
Formula 2
S ′ r ( t ) 1 = T S S ′ ( Δ R ′ θ ( t ) ) Δ R ′ p ( t ) 0 1 Sr ( t ) 1 - - - ( 3 )
Δ R ′ ( t ) = Δ R ′ p ( t ) Δ R ′ θ ( t ) - - - ( 4 )
Then, becoming the laser irradiation command value S of the amount of movement of the speculum 11 of actual instruction and lens " r (t) is according to the position of the imaginary laser Machining head 3 that obtains with from the current location of the robot 1 that encoder obtains, obtains from following matrix (5) equally.
At this, in formula (5), with the difference of the analogue value and the current location that produces by encoder as Δ R (t), shown in (6) formula, the position of the laser Machining head 3 that will be obtained by simulation and the difference of the current location that obtains from encoder be as Δ R ' p (t), and the difference of the angle of the Laser Processing 3 that is obtained by simulation and the angle that obtained by encoder is as Δ R ' θ (t).In addition, S" T S(Δ R ' θ (t)) is the spin matrix of determining according to the angle of the laser Machining head 3 that is obtained by simulation and the difference that is obtained angle by encoder.
Formula 3
S ′ ′ r ( t ) 1 = T S ′ S ′ ′ ( Δ R ′ θ ( t ) ) Δ R p ( t ) 0 1 S ′ r ( t ) 1 - - - ( 5 )
ΔR ( t ) = ΔRp ( t ) ΔRθ ( t ) - - - ( 6 )
Like this, adopt this 2nd embodiment, position by simulation and forecast robot to a certain degree, obtain the laser irradiating position of its predicted position, the laser that also utilizes the current location correction of the reality that is obtained by encoder to be used for actual irradiating laser according to its predicted position shines command value and sends instruction.Therefore, correction less than the location of instruction of robot 1 relatively with current location and value, correction itself becomes to revise a little and gets final product, the control time shortening, thereby can more accurately laser be shone predetermined laser irradiating position.
In addition, owing to will be located in the control device of robot 1, therefore can in this robot 1 control device of control, carry out the simulation of the feature of having added each robot 1 by the simulation that the model that quantizes produces.Thereby, when having a plurality of robot,, can easily carry out the simulation of the characteristic of having added each robot by characteristic own being input in advance in the robot separately.
In addition, being used to carry out the device of the simulation that produced by this model that quantizes also can be in the outside of robot controller.This situation, can be only with Simulation result, promptly the laser irradiation command value based on the predicted position of the laser Machining head that obtains from training data passes to robot controller.
The situation of this simulation externally or added under the simulation situation of difficult of characteristic of each robot, also can be from the training data that merely obtains with the action design procedure of robot, obtain the predicted position of laser Machining head, simulation is based on the laser irradiation command value of its predicted position.
The 3rd embodiment
Figure 10 is used to illustrate the originally block diagram of the control of the welding action of the 3rd embodiment.
In this 3rd embodiment, in robot controller 52, has laser output adjustment part 56, this laser output adjustment part 56 (is Sr (t) according to the revised laser irradiation command value that calculates in the 1st embodiment, be S in the 2nd embodiment " r (t), be the diagram identical with Fig. 1 at Figure 10 in addition) obtain revised focal length; With compare at first by the focal length of training data indication, in the situation that the optical path length of laser changes, adjust laser output in response to its variable quantity.Control signal Lp is exported to laser controller 51 from robot controller 52 according to the instruction of this laser output adjustment part 56, and laser controller 51 is controlled the output of laser oscillator 5 in response to control signal Lp.
Laser output adjustment part 56, the optical path length of laser originally is that focal length obtains according to training data.On the other hand, revised focal length is to obtain according to the laser irradiation command value that the corrective action with the explanation of the 1st or the 2nd embodiment obtains.Thereby, in this 3rd embodiment, can be from processing head control device 53 output lens move value SL (t).
In addition, when not having focus adjustment function itself, because fixed focal length, become and meet this fixed focal length training data of setting laser processing head 3 (distance from the speculum to the pad).In addition, in Figure 10, the situation that does not have the focus adjustment function is shown.
Because remaining laser soldering device is the overall structure of control system, with the 1st embodiment (with reference to Fig. 1～Fig. 3) identical, so omit its drawings and detailed description.In addition, because the action beyond the laser output adjustment is identical with the 1st or the 2nd embodiment, so omit its explanation.
Figure 11 is the curve map of the relation of output of expression laser and focal length.
It is maximum that laser intensity on the laser irradiating position is contracted to minimum position with the laser point diameter, and focal length departs from this position more, and the area of spot diameter descends pro rata.
Therefore, in the present embodiment, as shown in figure 11,, utilize the curve data of adjusting laser output, adjust laser output in response to the variation of focal length in response to focal length.
In this curve map, be the bias Δ SL (t) of focal length with the transverse axis, with the longitudinal axis laser output.
As shown in the figure, laser output order value rises the area corresponding to the spot diameter of focal length pro rata.Therefore but when bias is excessive, might can't carry out suitable laser weld, carry out error handling processing (for example, expression stop to export, can not weld etc.) surpassing the moment that to revise the scope that departs from.
In addition, owing to can not exceed the output control of the laser output upper limit, laser is exported higher limit be included on this curve.In this curve,, export higher limit so can not surpass laser because laser output higher limit is present in outside the amendable scope.But when laser output higher limit is come within the amendable scope,, carry out error handling processing (for example expression output stop, can not welding etc.) in the moment that arrives laser output higher limit.
Like this, adopt this 3rd embodiment, by revising laser irradiating position, even from speculum when 11 values to the distance of pad from training data change, need not adjust focal length and adjust laser output and make it become the laser intensity that is suitable for welding, therefore needn't just can stably keep welding quality by the lens correction focal length.
The 4th embodiment
Figure 12 is the block diagram of control that is used for illustrating the welding action of the 4th embodiment.
This 4th embodiment is located at the position measuring device 57 of laser Machining head 3 outside of robot 1.
As being located at outside position measuring device 57, be that the 3 dimension parameters of position that obtain being installed on the laser Machining head 3 of robot 1 in real time get final product, be not particularly limited.For example can utilize as lower device: wave launcher 58 is installed on the laser Machining head 3, at least 3 around it are provided with the receivers 59 that receive this electric wave, obtain the current location of laser Machining head 3 according to the delivery time each other from the electric wave of wave launcher 58 of obtaining with each receiver 59.Certainly, in addition, so long as the device of the current location of 3 dimension ground mensuration laser Machining heads 3 gets final product in real time.
In addition, only be used for confirming action and needn't be used for corrective action of the present invention (thereby, the holding wire between in Figure 11, having omitted from the encoder to the robot controller) from being installed on each the value of encoder of robot.
Under the situation of the current location of measuring laser Machining head 3 like this by outside determinator 57, basic corrective action is roughly identical with the 1st embodiment that has illustrated, but does not need to calculate according to each the value of encoder of robot the step of the current location of laser Machining head 3.
Thereby, the corrective action that is produced by robot controller 52 is to after comparing according to the position of the laser Machining head of obtaining from the robot motion position that obtains from training data, with the current location of the laser Machining head 3 that obtains from position measuring device 57, and the laser irradiation command value of this margin of error has been revised in output.
Like this, adopt this 4th embodiment,, handle corrective action so omit a step ground at least, thereby can accelerate to handle action owing to need not calculate the step of the current location of laser Machining head 3 according to each the value of encoder of robot.
More than has illustrated and used embodiments of the present invention, but the present invention is not limited to such embodiment,
For example, in each embodiment, use speculum to change the direction of laser, but also can use other opticses such as prism to change the direction of laser.
In addition, the present invention also can implement in irradiation is not limited to the device of various irradiation things of laser weld.For example, the irradiation part of various rays such as irradiates light (visible light, infrared ray, ultraviolet ray etc.), X ray isoradial, electron ray, electromagnetic wave is installed on various moving-members such as robot, actuation gear, use the present invention by irradiation part is moved in the device of useful to irradiation of rays on one side, can be exactly with radiation exposure on preposition.For the light in these rays, can move the direction of illumination of this change light by making speculum.For the ray beyond the light, can use reflecting plate or use electron lens, deflection coil etc. to change the direction of illumination of ray.
And irradiation part is not limited to ray as the irradiation thing, also can use the irradiation part of irradiation steel grit solid objects such as () metals or current etc.
The industry utilizability
The present invention can be applied to use the laser weld of robot etc. In addition, this The bright robot that is not limited to can also be applied on the following device, namely in various actuation component Deng irradiation part is installed on the moving-member, and by moving-member irradiation part is moved, simultaneously The device that shines shining thing.

Claims (19)

1. a laser soldering device is characterized in that, comprising:
Robot;
Laser penetrates parts, and it is installed in the above-mentioned robot, is used to penetrate laser;
Components of assays, it measures the current operating position of above-mentioned robot;
Control assembly, the current operating position of the above-mentioned robot that it is measured according to the said determination parts, control is penetrated the direction of the above-mentioned laser that parts penetrate from above-mentioned laser, makes that the irradiation position of above-mentioned laser is consistent with predetermined irradiation position.
2. laser soldering device according to claim 1 is characterized in that,
Above-mentioned laser penetrates parts and comprises that also direction of illumination changes parts, and these direction of illumination change parts reflect the above-mentioned laser that is directed into above-mentioned laser ejaculation parts and/or reflect;
Above-mentioned control assembly changes the direction of illumination that above-mentioned direction of illumination changes parts according to the current operating position of the above-mentioned robot that the said determination parts are measured, and makes above-mentioned laser irradiating position consistent with predetermined irradiation position.
3. laser soldering device according to claim 1 is characterized in that,
Above-mentioned robot has at least one movable axle;
The said determination parts measure above-mentioned axle actual act actuating quantity;
Above-mentioned control assembly is obtained the current operating position of robot according to above-mentioned actuating quantity, according to the direction of the current operating position control of obtaining, make that the irradiation position of above-mentioned laser is consistent with predetermined irradiation position from the above-mentioned laser of above-mentioned laser ejaculation parts ejaculation.
4. laser soldering device according to claim 1 is characterized in that,
Above-mentioned control assembly is obtained the current location that above-mentioned laser penetrates parts according to the current operating position of above-mentioned robot, penetrate the direction of the current location control of parts according to the above-mentioned laser of obtaining, make that the irradiation position of above-mentioned laser is consistent with predetermined irradiation position from the above-mentioned laser of above-mentioned laser ejaculation parts ejaculation.
5. laser soldering device according to claim 1 is characterized in that,
Also have the prediction parts, these prediction parts are given the operating position data of above-mentioned robot according to teaching in advance, use the model that quantizes of robot motion to obtain imaginary robot motion position, predict that above-mentioned laser penetrates the irradiation position of parts with respect to this imagination operating position;
Above-mentioned control assembly will penetrate the predicted position of parts from the above-mentioned laser that above-mentioned prediction parts obtain and compare from the above-mentioned current location that the above-mentioned laser that the above-mentioned current operating position of the above-mentioned robot that the said determination parts determine obtains penetrates parts, the departing from of irradiation position of the above-mentioned laser that the difference by the two is produced revised, and makes that the irradiation position of above-mentioned laser is consistent with predetermined irradiation position.
6. laser soldering device according to claim 1 is characterized in that,
The said determination parts are located at the outside of above-mentioned robot, measure the current location that above-mentioned laser penetrates parts;
The above-mentioned laser that above-mentioned control assembly determines according to the said determination parts that are located at said external penetrates the current location of parts, makes the irradiation position of above-mentioned laser consistent with predetermined irradiation position.
7. laser soldering device according to claim 1 is characterized in that,
Above-mentioned control assembly is also revised the focal length deviation of above-mentioned laser.
8. laser soldering device according to claim 1 is characterized in that,
Above-mentioned control assembly also according to penetrate the distance of parts to the irradiation position of above-mentioned laser from above-mentioned laser, is controlled the output of above-mentioned laser.
9. method for laser welding, it makes robot motion and makes the laser that is installed in this robot penetrate parts to move, and shines the assigned position of workpiece and welds thereby laser is penetrated parts from this laser, it is characterized in that,
Have: the step of obtaining the current operating position of above-mentioned robot; Control the direction that penetrates the laser that parts penetrate from above-mentioned laser according to above-mentioned current operating position, make the irradiation position step consistent of above-mentioned laser with predetermined irradiation position.
10. method for laser welding according to claim 9 is characterized in that,
Above-mentioned laser penetrates the direction of illumination change parts that parts have the direction of illumination that changes the above-mentioned laser that is directed into above-mentioned laser ejaculation parts;
The above-mentioned step of controlling moves above-mentioned direction of illumination, makes above-mentioned laser irradiating position consistent with predetermined irradiation position.
11. method for laser welding according to claim 9 is characterized in that,
Above-mentioned robot has at least one movable axle;
The step of obtaining above-mentioned current operating position is obtained the measured value of the actuating quantity of above-mentioned axle from components of assays, and this components of assays is used to measure the actuating quantity of the above-mentioned axle that is installed in above-mentioned robot;
The step of carrying out above-mentioned control makes the irradiation position of above-mentioned laser consistent with predetermined irradiation position according to the said determination value of the above-mentioned above-mentioned axle of having obtained.
12. method for laser welding according to claim 9 is characterized in that,
Carry out the current location of the step of above-mentioned control, make the irradiation position of above-mentioned laser consistent with predetermined irradiation position according to the current laser ejaculation parts of obtaining from the current operating position of the above-mentioned robot that obtains.
13. method for laser welding according to claim 9 is characterized in that,
The step of carrying out above-mentioned control is according to the operating position data of above-mentioned teaching in advance to above-mentioned robot, use the model that quantizes of robot motion to obtain imaginary robot motion position, above-mentioned laser is penetrated the position of parts with respect to this imagination operating position, the above-mentioned current location that the above-mentioned laser that obtains with the above-mentioned current operating position of the above-mentioned robot that determines from the said determination parts penetrates parts compares, the departing from of irradiation position of the above-mentioned laser that the difference by the two is produced revised, and makes the irradiation position of above-mentioned laser consistent with predetermined irradiation position.
14. method for laser welding according to claim 9 is characterized in that,
Obtain the step of above-mentioned current operating position and obtain the current location that the above-mentioned laser of being measured by the said determination parts penetrates parts, the said determination parts are measured the above-mentioned current operating position that the above-mentioned laser that is located at above-mentioned robot outside penetrates parts;
Carry out the current location of the step of above-mentioned control, make above-mentioned laser irradiating position consistent with predetermined irradiation position according to the above-mentioned laser ejaculation parts that obtained.
15. method for laser welding according to claim 9 is characterized in that,
Carrying out the step of above-mentioned control also revises the focal length deviation of above-mentioned laser.
16. method for laser welding according to claim 9 is characterized in that,
Above-mentioned control step is also according to penetrating parts are controlled above-mentioned laser to the distance of above-mentioned laser irradiating position output from above-mentioned laser.
17. an irradiation unit is characterized in that,
Have: irradiation part, it is used for irradiation irradiation thing; Moving-member, it moves above-mentioned irradiation part; Components of assays, it measures the current location of above-mentioned moving-member; Control assembly, it is according to the above-mentioned current location that is obtained by the said determination parts, and the direction of illumination of the above-mentioned irradiation thing that control is penetrated from above-mentioned irradiation part makes from the irradiation position of the irradiation thing of above-mentioned irradiation part irradiation consistent with predetermined irradiation position.
18. irradiation unit according to claim 17 is characterized in that,
The direction of illumination that above-mentioned irradiation part has the direction of illumination that changes above-mentioned irradiation thing changes parts;
Above-mentioned control assembly changes above-mentioned direction of illumination according to current location and changes parts, makes from the irradiation position of the above-mentioned irradiation thing of above-mentioned irradiation part irradiation consistent with predetermined irradiation position.
19. irradiation unit according to claim 18 is characterized in that,
Above-mentioned direction of illumination changes parts change above-mentioned irradiation thing by reflection and/or refraction direction of illumination.
CNB2006101410526A 2005-09-30 2006-09-28 Laser welding apparatus and method with correction of a laser beam direction with respect to the programmed predetermined position Expired - Fee Related CN100506460C (en)

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JP4792901B2 (en) 2011-10-12
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US20070075055A1 (en) 2007-04-05
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US8583273B2 (en) 2013-11-12
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JP2007098416A (en) 2007-04-19
US20130180965A1 (en) 2013-07-18

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